Robotic camera systems

ABSTRACT

A direct drive servo motor is provided and may include a quadrature encoder and a silicone rubber sleeve affixed to the encoder&#39;s shaft that is attached to the rotor hub and may also include an axle fixed to the rotor hub, inner and outer bearings, front and rear bearing plates, an outer stator, and an inner rotor rare earth magnet ring. A computer-controlled camera system is also provided and includes a direct drive camera gimbal; a pan-bar system; a robotic control system; a master interconnect unit; custom control software; and a track and gantry system. A universal camera tripod head adapter is also provided and includes front and rear clamps, a clamp handle, side and rear brackets and a silicone rubber sleeve affixed to the shaft of each encoder that rides on the pan and tilt axis lips of a camera tripod head.

CROSS REFERENCE TO RELATED APPLICATION[S]

This application is a divisional of earlier filed U.S. PatentApplication entitled “ROBOTIC CAMERA SYSTEMS,” Ser. No. 15/476,375,filed Mar. 31, 2017, which claims priority to U.S. Provisional PatentApplication entitled “APPLICATION OF RATIO-METRIC MULTIPLACATION TOGENERATE ULTRA HIGH RESOLUTION IN DIRECT DRIVE SERVO MOTORS,” Ser. No.62/316,324, filed Mar. 31, 2016; U.S. Provisional Patent Applicationentitled “ROBOTIC, GYROSCOPICALLY STABILIZED, COMPUTER-CONTROLLED CAMERASYSTEM,” Ser. No. 62/316,337, filed on Mar. 31, 2016; and U.S.Provisional Patent Application entitled “UNIVERSAL CAMERA TRIPOD HEADADAPTER,” Ser. No. 62/316,343, filed on Mar. 31, 2016, the disclosuresof which are hereby incorporated entirely herein by reference.

BACKGROUND OF THE INVENTION Technical Field

This invention relates to a direct drive, three phase axial servo motor;and more particularly to the use of ratio-metric multiplication tosignificantly increase the resolution in a zero-cogging, direct drive,three-phase axial servo motor. This invention also relates generally toa robotic, gyroscopically stabilized, computer-controlled camera system;and more particularly, to an integrated system comprised of a robotic,gyroscopically stabilized, 3-axis, direct drive camera gimbal; a pan-barsystem; an 8-axis robotic control system; a master interconnect unit;custom control software; and a track and gantry system for use withlarge cameras in the television, motion picture, and video productionindustries. This invention further relates generally to equipment foroperating remote camera control systems; and more particularly, to acamera tripod head adapter that mounts pan and tilt encoders ontovirtually any basic (i.e., non-encoder equipped) camera tripod head toreplicate the functionality of more sophisticated integrated (i.e.,encoder equipped) camera tripod heads at a lower cost.

State of the Art

Large robotic camera systems require a servo motor that performs highlyaccurate positioning. Direct drive motors are commonly used to powerthese systems but suffer from two types of problems. First, some directdrive servo motors, though affordable, have low encoder resolution,thereby resulting in low positional accuracy. Other technical issueswith lower cost motors include poor repeatability, axial and radialloading tradeoff, poor mounting flexibility, and design andmanufacturing complexity. Second, more sophisticated direct drive servomotors exist that have higher resolution and solve many of the othertechnical problems, but are more expensive, exceeding the budgetaryconstraints of independent filmmakers.

In order to produce high-end television, motion picture, and videoproducts, camera operators commonly utilize large robotic camera systemsthat enable stable, high precision camera movement; remote control ofthe camera (i.e., with the operator not immediately behind the cameraoperating it by hand); repeatable camera system movements; andaccommodate one or multiple cameras. Various robotic camera systemsexist to achieve these results but suffer from two types of problems.First, some camera systems, though affordable, have various technicalissues such as open-rather than closed-loop servo systems, geared servomotors instead of direct drive motors, poor or no gyroscopicstabilization resulting in unsteady images, inadequate control systems,limited or no computer software control, lack of recording and/orrepeatability, jerkiness due to gear backlash and poor torque linearity,inability to use in conjunction with special effects software, lack ofversatility and/or configurability, poor resolution, and inadequatehuman interface of controls (e.g., joysticks). Second, more advancedsystems exist that solve many of these technical problems, but are moreexpensive, exceeding the budgetary constraints of independentfilmmakers.

Robotic camera systems require an operator to control the pan (X-axis)and tilt (Y-axis) camera functions remotely. Remote camera controlsystems, including camera tripod heads, mounted on a camera tripod arecommonly used to drive these systems. Encoders are used to track the panand tilt functions to control the camera as well as to record the cameramovement for use with special effects software. Existing camera tripodheads, both fluid and friction types, incorporate encoders within thecamera tripod head into a single integrated component but are expensive,exceeding the budgetary constraints of independent filmmakers. Inaddition, because the encoders are built into existing integrated cameratripod heads, only the encoders installed by the manufacturer can beused, reducing encoder options.

DISCLOSURE OF THE INVENTION

Embodiments of the invention provide, at a lower cost of production, amechanical design for significantly increasing encoder resolution in adirect drive servo motor that also offers improved repeatability,incorporates both axial and radial loading, provides better mountingflexibility, and has decreased design and manufacturing complexity.Embodiments may include the use of a relatively low resolutionquadrature encoder with a silicone rubber sleeve or small spur gearaffixed to the shaft of said encoder that rides on the outercircumference of the rotor hub of the direct drive servo motor for usewith large robotic camera gimbal systems or any high precision roboticapplication.

Existing mechanical design mates the encoder with the motor axle. In thepresent invention, significantly higher resolution is achieved throughratio-metric multiplication by mating a relatively low resolutionquadrature encoder with the rotor hub of the motor, where a siliconerubber sleeve or small spur gear is affixed to the shaft of the encoderto ride on the outer circumference of the rotor hub. Control circuitrycapable of counting rising and falling edges of both the A and Bquadrature channels further increases the encoder resolution.

Aspects of the present invention include:

-   -   1. Mating of the encoder on the rotor hub rather than in line        with the axle of the motor.    -   2. Ratio-metric multiplication of an inexpensive, low resolution        encoder that improves upon the encoder resolution of existing        similar motors.    -   3. Front and rear heavy duty precision bearings, seated in        fortified front and rear bearing plates and walls, improve        repeatability and increase axial and radial loading as well as        shear loads that can be introduced to the shaft compared to        existing similar motors.    -   4. With a separate axle and axle plate, the motor is designed        with multiple mounting options, making it highly configurable        for various applications while remaining simple in design and        assembly compared to existing similar motors.

The direct drive motor of the current invention comprises an outerstator, an inner rotor comprising a ring of rare earth magnets situatedinside the outer stator, a spoked rotor hub having an inside portion towhich the axle is fixed, and an inner bearing and outer bearing forsupporting the axle. An encoder is fastened to the rear bearing plate; asilicone rubber sleeve affixed to the encoder's shaft rides on the rotorhub. In an alternative embodiment, the silicone rubber sleeve can bereplaced with a small spur gear and a ring gear can be added to increaserepeatability and precision registration of the encoder and the axlecompared to the original friction assembly.

Other Embodiments of the invention to provide an integrated robotic,gyroscopically stabilized, computer-controlled camera system. Aspects ofthe present invention may include:

1. closed-rather than open-loop servo systems

2. direct drive servo motors instead of geared motors

3. gyroscopic stabilization

4. inadequate control systems

5. computer software control

6. recording and repeatability

7. no gear backlash or poor torque linearity

8. usable in conjunction with special effects software

9. versatile configurable

10. high resolution

11. pan-bar system to facilitate human interface of controls

The robotic camera control system of the current invention is comprisedof six main components: a robotic, gyroscopically stabilized, 3-axis,direct drive camera gimbal; a pan-bar system; an 8-axis robotic controlsystem; a master interconnect unit; custom control software; and a trackand gantry system.

Yet other embodiments of the invention may provide a universal cameratripod head adapter that mates two encoders directly to the pan and tiltaxes (i.e., X and Y axes) of basic tripod camera heads. The presentinvention offers comparable functionality and precision of integratedcamera tripod heads at a lower cost of production, allows the use ofdifferent encoders, and can be used on virtually any basic camera tripodhead.

Aspects of the present invention include the following:

-   -   1. The adapter provides the ability to mount pan and tilt        encoders onto virtually any basic camera tripod head, converting        it into an encoder-equipped camera tripod head.    -   2. The adapter provides the ability to change encoders, not        limiting the user to the encoders installed by the manufacturer        into integrated camera tripod heads.    -   3. The adapter provides the ability to substitute potentiometers        for the encoders for control systems requiring variable        resistance.    -   4. The adapter provides comparable functionality and precision        at a lower cost of production than integrated camera tripod        heads.

In addition to these improvements upon existing camera tripod heads, theadapter is designed for quick and basic mounting and unmounting througha simple clamp design.

The camera tripod head adapter of the current invention comprises frontand rear body clamps, a clamp handle, tilt and pan encoder brackets, apan encoder bracket clamp, and a ball adapter plate. An encoder isfastened to each encoder bracket; a silicone rubber sleeve affixed tothe shaft of each encoder rides on the pan and tilt axis lips of thetripod camera head. The adapter may include an accessory mounting plate.

Several alternative embodiments are possible:

-   -   1. The ball adapter plate can be replaced with a ball spacer for        attaching to a tripod with a bowl receiver.    -   2. The silicone rubber sleeve can be replaced with a friction        drive wheel to allow the encoders to be mounted in different        places to accommodate different camera tripod head designs.    -   3. A connector housing can be added to simplify connection to a        controller with processing electronics. Switches can be added to        the connector housing to reverse the sensing direction of the        encoders to accommodate user preferences.

The foregoing and other features and advantages of the present inventionwill be apparent from the following more detailed description of theparticular embodiments of the invention, as illustrated in theaccompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete understanding of the present invention may be derived byreferring to the detailed description and claims when considered inconnection with the Figures, wherein like reference numbers refer tosimilar items throughout the Figures, and:

FIG. 1 is an assembled general front view of a direct drive motor inaccordance with the present invention.

FIG. 2 is an assembled general rear view of a direct drive motor inaccordance with the present invention.

FIG. 3 is an exploded view of a direct drive motor in accordance withthe present invention.

FIG. 4 is a cross sectional view taken along the rotational axis of adirect drive motor in accordance with the present invention.

FIG. 5 is a 3-dimensional cross sectional view of a direct drive motorin accordance with the present invention at an angle.

FIG. 6 is an assembled general top view of a direct drive motor inaccordance with the present invention with the motor casing removed toexpose the rotor and encoder mating.

FIG. 7 is a close-up view of the rotor and encoder mating, with motorhousing removed.

FIG. 8 is a close-up view of a gear drive assembly in accordance with analternative embodiment of the present invention.

FIG. 9 is a flow diagram showing how the six main components interrelatein accordance with the present invention.

FIG. 10 shows textured (left) and monochrome (right) CAD renderings ofthe assembled camera gimbal in accordance with the present invention.

FIG. 11 is a photograph of the right side of the assembled camera gimbalin accordance with the present invention.

FIG. 12 is a photograph of the left side of the assembled camera gimbalin accordance with the present invention.

FIG. 13 is a photograph of the rear and under side of the assembledcamera gimbal in accordance with the present invention.

FIG. 14 is a photograph of the rear and top side of the assembled cameragimbal in accordance with the present invention

FIG. 15 is a photograph of the dampening system and the master connectorhead of the assembled camera gimbal in accordance with the presentinvention.

FIG. 16 is a photograph of a lens motor clamp in accordance with thepresent invention.

FIG. 17 is a monochrome CAD rendering of the assembled pan-bar systemmounted with the 8-axis robotic control system in accordance with thepresent invention.

FIG. 18 is a close-up monochrome rendering of the assembled pan-barsystem mounted with the 8-axis robotic control system in accordance withthe present invention.

FIG. 19 shows four photographic views of the pan-bar system mounted withthe 8-axis robotic control system in accordance with the presentinvention.

FIG. 20 is a textured CAD rendering of the 8-axis robotic control systemin accordance with the present invention.

FIG. 21 is a photograph of the front panel of the master interconnectunit in accordance with the present invention.

FIG. 22 is a textured CAD rendering of the master interconnect unit inaccordance with the present invention.

FIG. 23 is a textured CAD rendering of the track and gantry system withthe camera gimbal mounted in accordance with the present invention.

FIG. 24 is a textured CAD rendering of the gantry turret in accordancewith the present invention.

FIG. 25 is an exploded view of a tripod camera head adapter inaccordance with the present invention.

FIG. 26A is an assembled general side view of a tripod camera headadapter in accordance with the present invention. Labels forscrews/fasteners are omitted for clarity.

FIG. 26B is an assembled general rear view of a tripod camera headadapter in accordance with the present invention. Labels forscrews/fasteners are omitted for clarity.

FIG. 27 is a perspective view of a tripod camera head adapter inaccordance with the present invention.

FIG. 28 is another perspective view of the assembled adapter showing howthe encoder mates with a fluid head for the tilt function in accordancewith the present invention.

FIG. 29 is a another view of the adapter of FIG. 28.

FIG. 30 is a close-up view of the assembled adapter showing how theencoder mates with a fluid head for the pan function in accordance withthe present invention.

FIG. 31 is a partially exploded view of an alternative embodiment wherea ball spacer replaces the ball adapter plate for attaching to a tripodwith a bowl receiver.

FIG. 32A is a close-up view of an alternative embodiment where afriction drive wheel replaces the silicone rubber sleeve.

FIG. 32B is a close-up view of an alternative embodiment showingconnector housing and directional switches.

DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION

Some embodiments of the present invention relate to a mechanical designfor generating ultra high resolution in a zero-cogging, direct drive,three-phase axial servo motor for use on large robotic camera gimbalsystems or any high precision, heavy duty robotic application. Someembodiments of the present invention relate to a robotic, gyroscopicallystabilized, computer-controlled camera system an integrated solution foruse in film, television, and video production. Further still, someembodiments of the present invention relate to a tripod camera headadapter for use with remote camera control systems.

Three-Phase Axial Servo Motor

Referring to the drawings, FIGS. 1-5 depict front and rear views of anassembled direct drive motor, an exploded view, and cross-sectionalviews of a direct drive motor in accordance with the present invention.The direct drive motor may include a front bearing plate 111, a rearbearing plate 106, an axle 113, an axle plate 114, two heavy dutyprecision bearings 108, a rotor rare earth magnet ring 109, athree-phase stator 110, a rotor hub 107, and a motor housing 115. Themotor may further include a low resolution quadrature encoder 104, anencoder housing 103, and a silicone rubber sleeve 105 affixed to theencoder 104 shaft to ride on the rotor hub 107, as will be discussed ingreater detail with respect to FIGS. 6 and 7. Further still, the motormay include a connector plug 101 and connector jack 102 for power andcontrol signals, and rod clamps 112 for mounting the motor.Alternatively, the friction version of the motor as described above canbe modified to a gear drive version by replacing the silicon rubbersleeve 105 with a small spur gear 116 and adding a ring gear 117, aswill be discussed further with respect to FIG. 8.

In order to illustrate how ratio-metric multiplication is applied tosignificantly increase the resolution of a direct drive servo motor inaccordance with the current invention, the assembly of the illustrativemotor is discussed first, in connection with FIGS. 1-5. The bearings 108are pressed into the front bearing plate 111 and rear bearing plate 106and are engineered in such a way into the overall design as to createmaximum axial, radial, and shear capability for the axle 113, makingthese motors very versatile with multiple applications. The rear axleplate 106 is attached to the rear of the motor housing 115 with fourprecision-registered countersunk screws. The rotor hub 107 slides ontothe axle 113 and is attached with four screws. The rotor magnet ring 109press fits onto the rotor hub 107. The stator 110 press fits into themotor housing 115. The rotor hub 107, rotor magnet ring 109, and axle113 slide through the front bearing plate 111. The rear bearing plate106 and motor housing 115 slide onto the axle 113. The front bearingplate 111 is attached to the motor housing 115 with precision-registeredcountersunk screws, thus creating a precision alignment between thefront bearing plate 111 and the rear bearing plate 106.

Ratio-metric multiplication is then achieved as follows. As seen inFIGS. 1-3, the encoder 104 attaches to the rear bearing plate 106 and iscovered by the encoder housing 103, which serves to protect the encoder104 and houses the connector jack 102, wherein the connector plug 101mates. The silicone rubber sleeve 105 is affixed to the shaft of theencoder 104. As seen in FIGS. 6 and 7, the encoder 104 penetrates therear bearing plate 106, extending sufficiently to cause the siliconerubber sleeve 105 to ride on the outer circumference of the rotor hub107.

For illustrative purposes, a quadrature encoder with a resolution of5,000 pulses per revolution (PPR) is used. A rotor hub with an outercircumference of 17.28 inches and a silicone rubber sleeve with an outercircumference of ca. 1.17 inches results in a ratio-metricmultiplication of ca. 14.77 (17.28÷1.17). This results in an approximatetotal of 73,850 encoder pulses per motor revolution (5,000×14.77), whichprovides a resolution of about 0.00487 degrees (360÷73,850) or ca.205.14 steps per degree (73,850÷360). Control circuitry that is capableof counting rising and falling edges of both the A and B quadraturechannels achieves four times the encoder resolution, or ca. 295,400 PPR(73,850×4), about 0.00122 degrees and ca. 820.56 steps per degree.

In an alternative embodiment, FIG. 8 depicts a gear drive assembly wherethe silicone rubber sleeve 105 is replaced with a spur gear 116 and aring gearl7 is added. In this version, the encoder 104 mates with arotor hub 107 modified with a ring gear 117 or gears machined into aportion of the outer rim. By virtually eliminating slippage, thisalternative assembly provides higher repeatability and precisionregistration of the encoder 104 and the axle 113 compared to thefriction assembly.

An additional Hall effects switch may be added with a small indexingmagnet on the rotor hub to replace the index signal of the quadratureencoder to prevent miscalculation by the motor controller.

Flexibility has been added by the use of rod clamps 112 into the design,facilitating highly configurable mounting options in high precisionrobotic camera systems, automation, and industrial applications. Inaddition, the length of the axle 113 and location of where the rotor hub107 is mounted on said axle can be adjusted to adapt the overall motordesign to different uses and applications.

Computer-Controlled Camera System

The robotic, gyroscopically stabilized, computer-controlled camerasystem is comprised of six main components, each designed specificallyto work with the others:

-   -   1. A 3-axis camera gimbal    -   2. A pan-bar system    -   3. A robotic control unit    -   4. A master interconnect unit    -   5. Custom control software    -   6. A track and gantry system

Referring to the drawings, FIG. 9 depicts a flow diagram of how the sixcomponents of the camera system interrelate. In a typical configuration,the robotic control unit 103, which is mounted on the pan-bar system102, is the point where all command signals originate. Pan, tilt, roll,focus, zoom, and iris signals from the pan-bar system 102 are sent tothe robotic control unit 103 via four RJ45 Ethernet cables. The roboticcontrol unit 103 is connected via a USB cable to a laptop with thecustom control software 105, enabling the software 105 to record,modify, and play back all eight axes of the camera gimbal 101 and thetrack and gantry system 106.

The robotic control unit 103 is connected to the master interconnectunit 104 via an Ethernet cable. The master interconnect unit 104connects to a connector panel on the track and gantry system 106 via acustom multi-core cable consisting of four balanced audio camera inputs,one unbalanced stereo headphone from the camera, one unbalanced stereomonitor from the camera, one time-code input to the camera, onetime-code output from the camera, one HD-SDI genlock to the camera, twoHD-SDI 1080p monitor feeds from the camera, one HD-SDI 1080p previewmonitor feed from the camera, one RJ45 Ethernet cable for GUI monitorfeed from the camera, one RJ45 Ethernet cable for control signals to thecamera, and one 24V DC 40-amp 12-gauge supply line for powering thetrack and gantry system 106.

Camera Gimbal 101

FIGS. 10-15 depict the camera gimbal, which is gyroscopicallystabilized, capable of three-axis (i.e., pan, tilt, and roll) movement,powered by custom direct drive motors, and designed to meet all therequirements of modern high-end broadcast and film production.

The camera gimbal cage is comprised of 19 mm aluminum and steel rods,rod clamps, and L-brace supports at the corners. This design allows foradjustable configurations to accommodate one or multiple cameras ofvarious sizes.

Three high precision, zero-cogging, direct drive, three-phase axialservo motors drive the pan, tilt, and roll axes; a fourth motor casingmirrors the tilt motor to provide balanced support. All fourmotors/motor casings are attached to the cage via rod clamps.

A camera is mounted on an L-shaped cheese plate, reinforced with sidebrackets, that is mounted to the roll motor. Three lens servo motors areattached with custom clamps, shown in FIG. 8, to rod clamps along a 19mm rod paralleling the camera. A motor controller is also mounted on thesame 19 mm rod.

A dual gyroscopic system is employed to stabilize the camera gimbalalong three axes. A vibrational dampening system removes extraneousvibration outside of the capability of the gyroscopic stabilizationsystem. The camera gimbal is mounted on one side of the pan motor.Attached to the other side of the dampening system are the masterconnector unit, the male receiver tube which connects the camera gimbalto the gantry turret arm, and a 24V to 13.6V voltage converter and heatsinks. The master connector unit contains four balanced analog audiofemale XLR input jacks, one ¼ inch stereo jack for left and rightmonitor audio output, one ¼ inch stereo jack for headphones output, oneBNC connector for time-code input, one BNC connector for time-codeoutput, one BNC connector for genlock input, two BNC connectors forHD-SDI output, one BNC connector for preview output, one RJ45 Ethernetconnector for controller input, one RJ45 Ethernet connector for GUImonitor output, and one 24V DC 40 amp DC input connector.

Two shoulder boxes house the three-phase servo drivers, the gyroscopiccorrection circuitry, and the LED status panel, which provides LEDindication of all control signals for diagnosis and troubleshooting.

Pan-Bar System 102

The pan-bar system, shown in FIGS. 17-19, consists of a tripod or otherstable surface (e.g., a table); a fluid or friction camera tripod head;pan-bar handles for pan and tilt control; hand controls for zoom, focus,iris, and roll; and a mounting surface for the robotic control unit anda high resolution monitor. The camera tripod head may be basic (i.e.,non-encoder equipped), in which a camera tripod head adapter andexternal encoders are necessary, or integrated (i.e., encoder equipped).Potentiometers are used for zoom and roll controls while encoders areused for focus and iris controls. All eight axes are connected to therobotic control unit via RJ45 Ethernet cables.

Robotic Control Unit 103

The robotic control unit, depicted in FIG. 20, is an 8-axis (i.e., pan,tilt, roll, zoom, focus, iris, track, and lift) controller that receivespan, tilt, roll, zoom, focus, and iris signals from the pan-bar system;sends signals to and receives signals from a laptop with the customcontrol software 105; and sends signals to and receives power from themaster interconnect unit 104, all via RJ45 Ethernet cables. Input fortrack and lift axes are received from a separate control unit.

Among its many functions, the robotic control unit 103 generates scaleand ramp information for each axis; enables the operator to set aminimum and maximum point for the movement of each axis; enables anddisables gyroscopic correction; and converts all data to a proprietaryserial data stream and sends it to both the master interconnect unit 104and the laptop with the custom control software 105. The controller iscapable of functioning with or without computer assistance.

The controller is a highly complex digital processing unit designedspecifically to accomplish all the needed functions and is much moreuser friendly while remaining far more cost effective than existingcontrollers. The controller is comprised of a heavy duty shieldedenclosure containing custom circuitry; twelve encoders, soft touchknobs, and color-coded LED bar displays for linear control of ramp andscale for the six axes; LED indicators for CPU present, transmit data,and receive data; trimmer potentiometers accessible through the frontface plate with standard trimmer tool to adjust zero set and dead bandfor zoom and roll axes; five momentary contact switches with tactileclick for panel lock, gyro enable/disable, system enable/disable,limit-set, and save/reset; and a rotary switch for setting the stop andstart points for each axis.

A full-featured camera remote control unit may be attached to therobotic control unit depending upon the camera model used andavailability of a factory-supplied remote control.

Master Interconnect Unit 104

The master interconnect unit 104 supplies 24V to the entire system, isresponsible for monitoring voltage and current of a battery sourceand/or AC land voltage, and provides power to the system. The masterinterconnect unit 104 also is responsible for the interface of allaudio, video, and control signals and provides up to six HDMI monitorsfor directors, focus pullers, etc.

The master interconnect unit is comprised of a 2 RU rack mountable casecontaining custom circuitry for handling USB to CANopen networkprotocols, conversion circuitry for Ethernet to HDMI conversion, voltageconversion and distribution, resettable safety circuit breakers, full1×6 HDMI distribution amplifier, custom controller interface circuitry,floating 5V isolated supply for current-sensing display, 50 amp 100Vshunt for current sensing, and one 120V 18 amp input to 24V 42 ampoutput switching power supply.

The front face plate, as shown in FIG. 21, features LED displays formonitoring voltage levels and current draw, a flip-protected highcurrent switch for selecting between battery and AC land input, fourbalanced analog audio female XLR input jacks, separate ¼ inch jacks forleft and right monitor audio output, one BNC connector for time-codeinput, one BNC connector for time-code output, one BNC connector forgenlock input, two BNC connectors for HD-SDI output, one BNC connectorfor preview output, one RJ45 Ethernet connector for controller input,one ¼ inch stereo jack for headphones output, one USB connector, sixHDMI outputs with six indicator LEDs for up to six GUI monitors, and onepower on/off switch.

The rear face plate, as depicted in FIG. 22, features one 24V DCaccessory output, one 120V 18 amp AC input connector, one BNC connectorfor time-code input, one BNC connector for time-code output, one BNCconnector for genlock output, one BNC connector for HD-SDI input, oneBNC connector for second HD-SDI input, one BNC connector for previewinput, four balanced analog audio male XLR output jacks, one ¼ inchstereo jack for left and right monitor audio input, one ¼ inch stereojack for headphones input, one RJ45 Ethernet connector for controlleroutput, one RJ45 Ethernet connector for GUI monitor input, one 24V DC 40amp output connector, and one 24V DC 40 amp battery input connector.

Custom Control Software 105

The custom control software records, modifies, and plays back complexmulti-axis camera movements and is capable of running on a standard PClaptop or desktop computer. The software receives signals from and sendssignals to the robotic control unit 102 via an RJ45 Ethernet cable.Through the recording function, the software enables the system to workwith special effects software, where the image filmed with the systemmust be precisely frame-matched with computer generated imagery and/orvirtual environments.

Track and Gantry System 106

FIG. 15 illustrates the track and gantry system, the purpose of which isto move the camera gimbal vertically along the gantry and horizontallyalong the track.

The track is constructed of aluminum I-beam and ⅛ inch angle aluminumforming a very rigid yet very light track system. Sections of track arelatched together to a desired length.

The gantry platform consists of ¼ inch plate aluminum with a weldedaluminum channel frame. On each corner of the platform, two rows of fourprecision camera dolly wheels are mounted at right angles to ride on a90-degree corner track.

Affixed to the gantry platform is the gantry column, housing forbatteries, charging systems, and serial decode circuitry for the gantrylift motor and the gantry track motor. The gantry platform also containsthe interconnect panel that interfaces between the master interconnectunit 104 and the camera gimbal 101.

The 8-foot-tall gantry column is constructed of an 8×8 inch hollowaluminum column bolted to the gantry platform. The frame of the gantryturret, as shown in FIG. 24, is of aluminum construction with twoprecision stainless steel V-groove wheels and six precision nylonV-groove wheels designed to ride on the corners of the gantry column.The camera gimbal is mounted in an overslung or underslung position onan arm extending from the gantry turret.

Two high precision zero-cogging direct drive servo motors drive theplatform along the track and the turret up and down the gantry column.The motors are coupled with encoders attached to rotor hubs via a smallcog pulley and cog belt, and the motor axle drives a right-angle gearbox, which turns a larger cog pulley, engaging a cog belt. A cog beltspool system lengthens according to the length of the track and is usedby the gantry platform motor to move the platform along the track.

Universal Camera Tripod Head Adapter

The present invention relates to a tripod camera head adapter for usewith remote camera control systems.

Referring to the drawings, FIGS. 25-27 depict an exploded view, side andrear views of an assembled tripod camera head adapter, and aphotographic representation of a tripod camera head adapter inaccordance with the present invention. The adapter may include a frontbody clamp 203 and rear body clamp 204, a clamp handle 205, a tiltencoder bracket 201, a pan encoder bracket 206, a pan encoder bracketclamp 207, and a ball adapter plate 209. The adapter may further includea tilt encoder 202 a, a pan encoder 202 b, and a silicone rubber sleeve208 affixed to the shaft of each encoder 202 a/b to ride on the tripodcamera head 211, as will be discussed in greater detail with respect toFIGS. 28-30. Further still, the adapter may include an accessorymounting plate 212. In an alternative embodiment, the ball adapter plate209 can be replaced with a ball spacer 214, as will be discussed furtherwith respect to FIG. 31. In an alternative embodiment, the siliconerubber sleeve 209 can be replaced with a friction drive wheel 216 toride on the external face of the stationary portion of the pan axis onthe tripod camera head 211, as will be discussed further with respect toFIG. 32A. In an alternative embodiment, a connector housing 217 withdirectional switches 218 can be added, as will be discussed further withrespect to FIG. 32B. Screws/fasteners 210 are used to connect parts.

Assembly of the illustrative adapter is discussed in connection withFIGS. 25-27. The front body clamp 203 and rear body clamp 204 bolttogether by way of the clamp handle 205 to form the tripod camera headadapter clamp. A thin rubber lining 216 is placed between the front bodyclamp 203 and read body clamp 204 and the tripod camera head 211 toimprove the grip of the adapter to the tripod camera head 211.

The pan encoder 202 b is mounted on the pan encoder bracket 206 withscrews/fasteners 210. A silicone rubber sleeve 208 is affixed to theshaft of the pan encoder 202 b. The assembled pan encoder bracket 206 isattached to the rear body clamp 204 by way of the pan encoder bracketclamp 207.

The tilt encoder 202 a is mounted to the tilt encoder bracket 201 withscrews/fasteners 210. A silicone rubber sleeve 208 is affixed to theshaft of the tilt encoder 202 a. The assembled tilt encoder bracket 201is attached to the tripod camera head 211 by way of screws/fasteners 210using existing screw holes in the tripod camera head 211.

As seen in FIGS. 28 and 29, the shaft of the tilt encoder 202 apenetrates the tilt encoder bracket 201, extending sufficiently to allowthe silicone rubber sleeve 208 to ride on the tilt axis lip of thetripod camera head 211. Similarly, as seen in FIGS. 30 and 31, the shaftof the pan encoder 202 b penetrates the pan encoder plate 206, extendingsufficiently to allow the silicone rubber sleeve 208 to ride on the panaxis lip of the tripod camera head 211.

The ball adapter plate 209 is attached to the tripod camera head 211 byway of screws/fasteners 210. The ball adapter plate 209 is attached to atripod 213 or other surface by way of screws/fasteners 210.

In an alternative embodiment, FIG. 31 depicts a modified version of theillustrative tripod camera head adapter where the ball adapter plate 209is replaced with a ball spacer 214. This creates sufficient clearancefor the pan encoder 202 b to mate with the pan axis lip of the tripodcamera head 211 when the tripod camera head 211 is attached to a tripod213 with a bowl receiver 215.

In an alternative embodiment, FIGS. 32A depicts a modified version ofthe illustrative tripod camera head adapter where the silicone rubbersleeve 209 is replaced with a friction drive wheel 216. This allowsdifferent mounting configurations to accommodate different tripod camerahead designs. For example, the friction drive wheel 216 can ride alongthe external face rather than the lower edge/lip of the pan axis of thetripod camera head 211, allowing the tripod camera head 211 to attach toa tripod 213 with a bowl receiver 215 without a ball spacer 214.

In an alternative embodiment, FIG. 32B depicts a modified version of theillustrative tripod camera head adapter where a connector housing 217 isattached to the pan encoder bracket 206 to simplify connection to acontroller with processing electronics. Directional switches 218 mayalso be added to accommodate user preferences based on different roboticcamera control system setups.

An optional accessory mount plate 212 can be attached to the top of theassembled tripod camera head adapter via welding or other means for thepurpose of mounting monitors, controllers, and other accessories.

The illustrative version of the adapter was designed for use with 25different tripod camera heads but can be modified to fit virtually anyexisting and future basic tripod camera heads.

The components defining any direct drive motor; any robotic,gyroscopically stabilized, computer controlled camera system; or anytripod camera head adapter according to embodiments of the invention maybe formed of any of many different types of materials or combinationsthereof that can readily be formed into shaped objects provided that thecomponents selected are consistent with the intended operation of adirect drive motor according to embodiments of the invention. Forexample, the components may be formed of: metals, such as zinc,magnesium, titanium, copper, iron, steel, carbon steel, alloy steel,tool steel, stainless steel, aluminum, any combination thereof, and/orother like materials; alloys, such as aluminum alloy, titanium alloy,magnesium alloy, copper alloy, any combination thereof, and/or otherlike materials; rubbers (synthetic and/or natural) and/or other likematerials; glasses (such as fiberglass) carbon-fiber, aramid-fiber, anycombination thereof, and/or other like materials; polymers such asthermoplastics (such as ABS, Fluoropolymers, Polyacetal, Polyamide;Polycarbonate, Polyethylene, Polysulfone, and/or the like), thermosets(such as Epoxy, Phenolic Resin, Polyimide, Polyurethane, Silicone,and/or the like), any combination thereof, and/or other like materials;composites and/or other like materials; any other suitable material;and/or any combination thereof.

Furthermore, the components defining any direct drive motor; anyrobotic, gyroscopically stabilized, computer controlled camera system;or any tripod camera head adapter according to embodiments of theinvention may be purchased pre-manufactured or manufactured separatelyand then assembled together. However, any or all of the components maybe manufactured simultaneously and integrally joined with one another.Manufacture of these components separately or simultaneously may involveextrusion, pultrusion, vacuum forming, injection molding, blow molding,resin transfer molding, casting, forging, cold rolling, milling,drilling, reaming, turning, grinding, stamping, cutting, bending,welding, soldering, hardening, riveting, punching, plating, and/or thelike. If any of the components are manufactured separately, they maythen be coupled with one another in any manner, such as with adhesive, aweld, a fastener (e.g. a bolt, a nut, a screw, a nail, a rivet, a pin,and/or the like), wiring, any combination thereof, and/or the like forexample, depending on, among other considerations, the particularmaterial forming the components. Other possible steps might include sandblasting, polishing, powder coating, zinc plating, anodizing, hardanodizing, and/or painting the components for example.

The embodiments and examples set forth herein were presented in order tobest explain the present invention and its practical application and tothereby enable those of ordinary skill in the art to make and use theinvention. However, those of ordinary skill in the art will recognizethat the foregoing description and examples have been presented for thepurposes of illustration and example only. The description as set forthis not intended to be exhaustive or to limit the invention to theprecise form disclosed. Many modifications and variations are possiblein light of the teachings above without departing from the spirit andscope of the forthcoming claims.

1. An integrated robotic, gyroscopically stabilized, computer-controlledcamera system comprising: a robotic, gyroscopically stabilized, 3-axis,direct drive camera gimbal; a pan-bar system; an 8-axis robotic controlsystem mounted on the pan-bar system; a master interconnect unitconnected to the 8-axis robotic control system; a track and gantrysystem coupled to the camera gimbal for moving the camera gimbalvertically and horizontally; and a computer operating control softwareconnected to the 8-axis robotic control system, wherein operation of thecontrol software records, modifies, and plays back all eight axes of thecamera gimbal and the track and gantry system.
 2. The system of claim 1,further comprising a camera remote control coupled to the roboticcontrol unit.
 3. A universal camera tripod head adapter comprising:front and rear body clamps; a clamp handle coupling the front and rearbody clamps together; tilt and pan encoder brackets, wherein an encoderis fastened to each encoder bracket; a pan encoder bracket clamp toclamp the pan encoder bracket to the rear body clamp; and a siliconerubber sleeve affixed to a shaft of each encoder rides on the pan andtilt axis lips of the tripod camera head.
 4. The adapter of claim 3,wherein the adapter is mountable to a basic camera tripod head toconvert the basic camera tripod head into an encoder-equipped cameratripod head.
 5. The adapter of claim 3, wherein the encoders arechangeable.
 6. The adapter of claim 3, wherein the adapter may comprisepotentiometers in the place of the encoders for use with control systemsrequiring variable resistance.
 7. The adapter of claim 3, wherein theadapter provides comparable functionality and precision at a lower costof production than integrated camera tripod heads.
 8. The adapter ofclaim 3, further comprising a connector housing for connecting acontroller with processing electronics to the camera tripod.
 9. Theadapter of claim 8, further comprising switches for reversing thesensing direction of the encoders to accommodate user preferences.